Code No: RR322403 Set No.

1
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
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1. State some applications of Robotics in various fields including agriculture, medical

and defense areas. [16]
2. Name five different types of robot end effectors. Compare and contrast the end
effectors from the viewpoint of their functions. [16]
3. Given a vector ruvw = [6, 4, 2]T with respect to the ouvw coordinates system deter-
mine rxyz if ouvw is rotated about z axis by 600 . [16]
4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention
for selecting frames of reference in robotic application. [16]
5. Find the manipulator jacobian matrix J (q) of the two-axis planer articulated robot
shown in figure5. [16]

Figure 5

6. (a) Explain any one of the obstacle avoidance algorithms in detail.

(b) Explain the importance of obstacle avoidance algorithms. [8+8]
7. What is the difference between resolution and repeatability of robot arm move-
ment? How are they controlled? Does the choice of the drive system determine
the resolution and repeatability? Using a table, explain minimum and maximum
resolution and repeatability of different types of systems ? hydraulic, pneumatic,
electrical? [16]
8. (a) What are the various technical problems for robots in arc welding? Explain.
(b) What are the features and capabilities of industrial robots in arc welding?
Explain. [8+8]

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Code No: RR322403 Set No. 2
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. What is the future scope of Robotics? Give your views. [16]

2. What do you understand by degrees of freedom (DOF)? How many DOFs are
required to position an end-effector at any point in 3-D space? Justify. [16]

3. Determine the equivalent axis

 and angle of rotation
 for the following matrix. [16]
0 0 1 0
 1 0 0 0 
Rot (y, 90) Rot (z, 90) = 
 0 1 0

0 
0 0 0 1
4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention
for selecting frames of reference in robotic application. [16]

5. The following is the link parameter table for Anthropomorphic Arm

Link a alpha d θ
1 0 π/2 0 θ1
2 a2 0 0 θ2
3 a3 0 0 θ3
Compute the Jacobian matrix for the arm and determine the linear and the angular
velocities of the end-effector. [16]

6. State and explain various interpolation schemes used in robot motion. [16]

7. What is the difference between resolution and repeatability of robot arm move-
ment? How are they controlled? Does the choice of the drive system determine
the resolution and repeatability? Using a table, explain minimum and maximum
resolution and repeatability of different types of systems ? hydraulic, pneumatic,
electrical? [16]

8. (a) What are the general considerations in robot material handling? Explain.
(b) With the help of an example discuss the application of robot in pick-and-place
operations. [8+8]

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Code No: RR322403 Set No. 3
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. (a) Define the term ‘Robot’.Explain different Robot types.

(b) What is meant by a manipulator having redundant degrees of freedom and its
advantages? [8+8]

2. (a) How is a robot end effector specified?

(b) What are the design considerations in the robot endeffector for holding the
object? [6+10]

3. For the point 4i+6j+7k perform the following operations:-

(a) Rotate 450 about the X axis

(b) Rotate 300 about the Y axis
(c) Translate 900 units along Y axis
(d) Rotate 300 as out Z axis
(e) Translate 6 units along Z axis. [3+3+3+3+4]

4. What is a forward kinematics problem? Explain Denavit-Hartenberg convention

for selecting frames of reference in robotic application. [16]

5. Find the manipulator jacobian matrix J (q) of the two-axis planer articulated robot
shown in figure5. [16]

Figure 5

6. Using the 8 x 8 square grid illustrated in figure. show the path taken by a Cartesian
coordinate robot if it is directed to move between the following sets of point in the
grid using linear interpolation :

(a) Point (2,1) and point (6,7)

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Code No: RR322403 Set No. 3
(b) Point (2,3) and point (8, 4)
(c) Point (2,2) and point (7, 5). [16]

7. (a) Sketch and explain control loops using voltage amplifier for the robot joint
motions mentioning the response equations involved.
(b) Differentiate between a DC servomotor and Stepper motor. [12+4]

8. (a) Discuss the following considerations in robot material handling.

i. Part positioning and orientation
ii. Minimum distances moved
iii. Robot configuration
iv. Machine utilization problems.
(b) With the help of an example discuss the application of robot in palletizing
and depalletizing operations. [16]

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Code No: RR322403 Set No. 4
III B.Tech Supplimentary Examinations, Aug/Sep 2008
ROBOTICS
(Automobile Engineering)
Time: 3 hours Max Marks: 80
Answer any FIVE Questions
All Questions carry equal marks
⋆⋆⋆⋆⋆

1. How are Robots useful in materials handling in any organization where a number
of materials are to be transferred from one work station to another? [16]
2. Name five different types of robot end effectors. Compare and contrast the end
effectors from the viewpoint of their functions. [16]
3. For the point auvw = (6, 2, 4)T perform following operations. [5+5+6]
(a) Rotate 300 about the X axis, followed by translation of 6 units along Y axis.
(b) Translate 6 units along Y axis, followed by rotation of 300 about X axis.
(c) Rotate 600 about Z axis followed by translation of 10 units along the rotated
U axis.
4. Perform the forward transformation for the five axis Rhino XR-3 robot using the
following data. [16]

Link a α θ d
1. 0 −900 θ1 10
2. a2 0 θ2 0
3. a3 0 θ3 0
4. a4 −900 θ4 0
5. 0 0 θ5 10
5. Derive the expression for joint torques for a planar R-P robotic manipulator using
Lagranze-Euler formulation. [16]
6. Explain the following of the VAL II robot programming language
(a) Interlock commands
(b) Input / Output controls
(c) Program control. [16]
7. With a neat sketch describe the working of an absolute encoder. Explain how the
angular position is calculated in an absolute encoder. [16]
8. (a) What are the various difficulties encountered in manual spot welding? Explain.
(b) What are the capabilities and features of the robots in spot welding. [8+8]

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